Merge pull request #46 from acornacorn/groovy-devel

remove tabs
minor bugfix
add option for including attached objects in marker
ws fixes mostly
update some messages
add a utility function
bodies attached to the same link should not collide
fix some comments
remove log msg
do not include 0-volume shapes in markers
disable some debug messages
add World class

This class represents all objects in the world (everything that is not the
robot or attached to the robot).
Use World class in CollisionWorld classes

This change removes the world representation from CollisionWorld and places it into World.
This allows several CollisionWorld instances to point to the same World instance.
Add multi-collision to PlanningScene

This change removes the CollisionWorld and CollisionRobots from PlanningScene
and replaces them with an array of CollisionDetection structs.  Each
CollisionDetection contains a CollisionWorld, an unpadded CollisionRobot and a
padded CollisionRobot.  This allows several collision detection algorithms to
be easily used from the same planning scene.
remove setCollisionDetectionTypes

Use setActiveCollisionDetector instead.
remove CollisionWorld default copy constructor
fix fcl unit test

Make it work with new World class.
Fix paths to find urdf, srdf, and kinect files.
add header for boost concept check
use const ref when setting new world
add UNINITIALIZED=0 enum val